Men’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2002 | Nymburk | Tim Cuddihy (AUS) | ||
| 2004 | Lilleshall | Chen Wenyuan (CHN) | ||
| 2006 | Mérida | Ryan Tyack (AUS) | ||
| 2008 | Antalya | Kim Hyun (South Korea) | ||
| 2009 | Ogden | Kim Joo-Wan (South Korea) | ||
| 2011 | Legnica | Park Seong-Jeol (South Korea) | ||
| 2013 | Wuxi | Patrick Huston (Great Britain) | Sanzhar Mussayev (Kazakhstan) | Luis Esteban Infante (Mexico) |
| 2015 | Yankton | Marcus Vinicius D'Almeida (BRA) | ||
| 2017 | Rosario | Tang Chih-Chun (Chinese Taipei) | Yong Hyeok-jung (South Korea) | Kim Pil-joong (South Korea) |
| 2019 | Madrid |
Women’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2002 | Nymburk | Karina Lipiarska (POL) | ||
| 2004 | Lilleshall | Carla Frangilli (ITA) | ||
| 2006 | Mérida | Jane Waller (AUS) | ||
| 2008 | Antalya | Tatiana Segina (RUS) | ||
| 2009 | Ogden | Deepika Kumari (IND) | ||
| 2011 | Legnica | Ryoo Su-Jung (South Korea) | ||
| 2013 | Wuxi | Jeong Yu-Ri (South Korea) | Wu Jiaxin (China) | Lee Hye-Seon (South Korea) |
| 2015 | Yankton | Hyeong Yea-jin (KOR) | ||
| 2017 | Rosario | Sohui Park (South Korea) | Kyla Touraine-Helias (France) | Zhang Mengyao (China) |
| 2019 | Madrid |
Men’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2002 | Nymburk | Australia | ||
| 2004 | Lilleshall | |||
| 2006 | Mérida | Turkey | ||
| 2008 | Antalya | South Korea | ||
| 2009 | Ogden | South Korea | ||
| 2011 | Legnica | South Korea | ||
| 2013 | Wuxi | France Romain Fichet Mathieu Jimenez Thomas Koenig | Turkey Berat Aydin Mete Gazoz Orkun Ege Tokusoglu | Chinese Taipei Chen Wei-Chieh Han Yun-Chien Lee Chin-Tang |
| 2015 | Yankton | South Korea | ||
| 2017 | Rosario | United States Andrew Park Adam Heidt Jack Williams | Chinese Taipei Sung Hao-kai Li Yen-yu Tang Chih-chun | Japan Testuya Aoshima Mau Tateno Daisuke Tomatsu |
| 2019 | Madrid |
Women’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2002 | Nymburk | Italy | ||
| 2004 | Lilleshall | |||
| 2006 | Mérida | Ukraine | ||
| 2008 | Antalya | South Korea | ||
| 2009 | Ogden | South Korea | ||
| 2011 | Legnica | South Korea | ||
| 2013 | Wuxi | France Aurelie Carlier Melanie Gaubil Laura Ruggieri | South Korea Jeong Yu-Ri Lee Hye-Seon Lee So-Dam | China Li Jiaman Wu Jiaxin Zhang Lu |
| 2015 | Yankton | South Korea | ||
| 2017 | Rosario | Japan Ruka Uehara Yuri Tarumoto Kanae Seuki | Russia Tuiana Budazhapova Ekaterina Biriukova Viktoria Kharitonova | Great Britain Louisa Piper Thea Rogers Alyssia Tromans-Ansell |
| 2019 | Madrid |
Mixed Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2011 | Legnica | South Korea | ||
| 2013 | Wuxi | Great Britain Rebecca Martin Patrick Huston | France Laura Ruggieri Thomas Koenig | South Korea Jeong Yu-Ri Kim Dong-Il |
| 2015 | Yankton | South Korea | ||
| 2017 | Rosario | Chinese Taipei Su Szu-ping Tang Chih-chun | South Korea An San Kim Pil-joong | France Lou Thirion Lisa Barbelin |
| 2019 | Madrid |